Command 205: Registers approach speed to the speed table
Registers speeds for CP motion to the Arm speed table separately.
Registers approach speed.
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | tableNumber | Specifies the registration position in the table using an integer from 0 to 15. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | approachSpeed High-order word | Specifies the value indicating the approach speed for Jump3 (Unit: mm/sec) × 1000 and converted to a 32-bit integer. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | approachSpeed Low-order word | Specifies the value indicating the approach speed for Jump3 (Unit: mm/sec) × 1000 and converted to a 32-bit integer. Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax
Refer to the following.
Description
This command registers speed and approach speed to the speed table when registering arm speeds for CP motion separately.
This command functions in combination with Command 204.
To set setting values, execute the Command 204 and 205, in that order. Registration will be completed by executing Command 205.
If the previous command is not Command 204, an error response will be returned.
Example
When registering speed as “100.001”, depart speed as “50.002”, and approach speed as “60.003” to the table 1.
| Command | Response |
00CCH 0001H 0001H 86A1H 0000H C352H 00CDH 0001H 0000H EA63H | 00CCH 0000H 0000H 00CDH 0000H 0000H |